Re: [Paparazzi-devel] Auto Pitch

[Reto Büttner]

Hi Gautier

Thanks for your help. Commenting out the first line of the flight plan
it compiles and runs in the simulation:

<!-- <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd"> -->

I assume this line has some function. Can I leave it commented out?

It would be great if you could fix this.

Regards,
Reto

2012/5/20 Gautier Hattenberger <address@hidden>:
> Hi,
>
> It doesn't seems to be a generation issue but a DTD limitation (and then
> it's a mistake).
> Can you try to comment the first line of your flight plan so to not include
> flight_plan.dtd ? If it works I will fix things correctly.
>
> For nav_line, replace
> NavVerticalAutoThrottleMode(0);
> with
> NavVerticalAutoPitchMode(throttle);
> where "throttle" is the throttle setpoint in pprz unit (between 0 and 9600).
>
> Gautier
>
> Le 20/05/2012 21:24, Reto Büttner a écrit :
>
>> Hi Gautier
>>
>> Thanks for your explanations. When I configure my flight plan as follows:
>>
>> <block group="home" key="F8" name="Figure 8 Auto Pitch"
>> strip_button="Figure 8 Auto Pitch" strip_icon="eight.png">
>>   <eight center="1" radius="nav_radius" turn_around="2" pitch="auto"
>> throttle="0.75"/>
>> </block>
>>
>> I get the error when building:
>>
>> Unexpected attribute : 'PITCH'
>> make: *** [ap.ac_h] Error 1
>>
>> When I read the code in fp_proc.ml I assume the figure eight does not
>> expect a pitch or throttle attribute. This is my interpretation not
>> really knowing OCaml.
>>
>> Where do I need to set the pitch attribute for the figure eight
>> navigation pattern?
>>
>> To fly the nav_line navigation pattern in auto pitch mode, how would I
>> need to change the indicated lines (nav_line.c:81):
>>
>> NavVerticalAutoThrottleMode(0); /* No pitch */
>> NavVerticalAltitudeMode(WaypointAlt(l1), 0.);
>>
>> Best regards,
>> Reto
>>
>> 2012/5/19 Gautier Hattenberger<address@hidden>:
>>>
>>> Hi,
>>>
>>> There is no vmode="pitch".
>>> The possible values for vmode are alt, climb, throttle and glide
>>> (http://paparazzi.enac.fr/wiki/Flight_Plans#Navigation_modes).
>>> Also the vertical mode is independent of the horizontal mode, so you
>>> should
>>> be able to set it with any build-in patterns. This is the case of "eight"
>>> but not "nav_line" which is a custom navigation pattern that sets the
>>> vertical mode by itself (subsystems/navigation/nav_line.c:81).
>>>
>>> So, if you want to do altitude control with auto pitch and fixed throttle
>>> with regular patterns: pitch="auto" throttle="xxx" (don't set
>>> vmode="throttle", it would disable the altitude control)
>>>
>>> Gautier
>>>
>>> Le 18/05/2012 20:14, Reto Büttner a écrit :
>>>>
>>>> Hi guys
>>>>
>>>> How can be the figure eight of line be flown in vmode auto pitch
>>>> (instead of auto throttle)?
>>>>
>>>> I find the according parameters only in the "go", "path" and "circle"
>>>> primitive. Not in "eight" nor in "nav_line":
>>>>
>>>> pitch="auto"
>>>> throttle="0.75"
>>>> vmode="pitch"
>>>>
>>>> By the way, is there a difference between pitch="auto" and
>>>> vmode="pitch"?
>>>>
>>>> Cheers,
>>>> Reto
>>>>
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>>>
>>>
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